YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.3 Zero Point Return (ZRET)
6-18
( 5 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
Parameter Name Setting SVR
OW00
Bit 0
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Turn ON the power before setting the Motion Command (OW08) to 3.
OW01
Bit 3
Speed Loop P/PI Switch
Switches the SERVOPACK’s speed loop between PI control and P control.
0: PI control, 1: P control
OW03 Function Setting 1
Set the speed unit, acceleration/deceleration units, and filter type.
OW08 Motion Command
Positioning starts when this parameter is set to 3.
The operation will be canceled if this parameter is set to 0 during ZRET com-
mand execution.
OW09
Bit 1
Holds a Command
The axis will decelerate to a stop if this bit is set to 1 during ZRET command
execution.
OL36
Straight Line Accelera-
tion/Acceleration Time
Constant
Set the rate of acceleration or acceleration time constant for positioning.
OL38
Straight Line Decelera-
tion/Deceleration Time
Constant
Set the rate of deceleration or deceleration time constant for positioning.
OW3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW03, bits 8 to B.
Change the setting only after pulse distribution has been completed for the com-
mand (IW0C, bit 0 is ON).
OW3D
Width of Starting Point
Position Output
Set the width in which the Zero Position bit (IW0C, bit 4) will turn ON.
Parameter Name Monitor Contents SVR
IW00
Bit 1
Running (At Servo ON)
Indicates the Servo ON status.
1: Power supplied to Servomotor, 0: Power not supplied to Servomotor
IL02 Warning
Stores the most current warning.
IL04 Alarm
Stores the most current alarm.
IW08
Motion Command
Response Code
Indicates the motion command that is being executed.
The response code is 3 during ZRET command execution.
IW09
Bit 0
Command Execution
Flag
The Command Execution Flag bit will turn ON during ZRET command execution and
then turn OFF when command execution has been completed.
IW09
Bit 1
Command Hold
Completed
Always OFF for ZRET command.
IW09
Bit 3
Command Error Com-
pleted Status
Turns ON if an error occurs during ZRET command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command is
executed.
IW09
Bit 8
Command Execution
Completed
Turns ON when ZRET command execution has been completed.
IW0C
Bit 0
Discharging Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IW0C
Bit 3
NEAR Position
The operation depends on the setting of the NEAR Signal Output Width (setting parame-
ter OL20).
OL20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
Otherwise, it turns OFF.
OL20 ≠ 0: Turns ON when the absolute value of the difference between MPOS
(IL12) and APOS (IL16) is less than the NEAR Signal Output
Width even if pulse distribution has not been completed.
OFF in all other cases.
IW
0C
Bit 4
Zero Position
Turns ON
if the current position after the zero point return operation has been completed
is within the Width of Starting Point Position Output from the zero point position. Other-
wise, it turns OFF.
IW0C
Bit 5
Zero Point Return (Set-
ting) Completed
Turns ON when the zero point return has been completed.
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English